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   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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      <li class="navelem"><b>OpencvSfM</b>      </li>
      <li class="navelem"><a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a>      </li>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
<a href="#friends">Friends</a>  </div>
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<div class="title">OpencvSfM::Camera Class Reference</div>  </div>
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<!-- doxytag: class="OpencvSfM::Camera" -->
<p>This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a> class. The role of the class is to store only device related informations like intra parameters, radial and tangential distotion. This abstract class is not related to a type of camera ( fish eyes... )  
 <a href="class_opencv_sf_m_1_1_camera.html#details">More...</a></p>

<p><code>#include &lt;<a class="el" href="_camera_8h_source.html">Camera.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for OpencvSfM::Camera:</div>
<div class="dyncontent">
 <div class="center">
  <img src="class_opencv_sf_m_1_1_camera.png" usemap="#OpencvSfM::Camera_map" alt=""/>
  <map id="OpencvSfM::Camera_map" name="OpencvSfM::Camera_map">
<area href="class_opencv_sf_m_1_1_camera_pinhole.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ..." alt="OpencvSfM::CameraPinhole" shape="rect" coords="0,56,205,80"/>
<area href="class_opencv_sf_m_1_1_camera_pinhole_distor.html" title="This class represent the physical device which take the pictures. It is not related to a 3D position ..." alt="OpencvSfM::CameraPinholeDistor" shape="rect" coords="0,112,205,136"/>
</map>
 </div></div>

<p><a href="class_opencv_sf_m_1_1_camera-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec4d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#aa1b338f09e0139185d71bf82e1807cb7">convertFromImageTo3Dray</a> (std::vector&lt; cv::Vec3d &gt; points)=0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#a14bc13f78187173edfbe69f8aad7ccd1">pixelToNormImageCoordinates</a> (std::vector&lt; cv::Vec2d &gt; points) const =0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual std::vector&lt; cv::Vec2d &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#a5eb19d3cf32190594b62d04d665812e5">normImageToPixelCoordinates</a> (std::vector&lt; cv::Vec2d &gt; points) const =0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#acdd426e220facad4396da7f09494b406">getIntraMatrix</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#a8cc79b0518b797715f7a3e7df92aa4bf">getFocal</a> () const =0</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#ade222f777665c63ebcf911b357667612">write</a> (cv::FileStorage &amp;fs) const =0</td></tr>
<tr><td colspan="2"><h2><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#aa8cf6c4e78c51a9e045913534bbd5a4e">read</a> (const cv::FileNode &amp;node)</td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#a32c35ae2129f2d8cab11cdca507d27ce">Camera</a> ()</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a51667a509ef8baa90262e5552017b131"></a><!-- doxytag: member="OpencvSfM::Camera::pointsOfView_" ref="a51667a509ef8baa90262e5552017b131" args="" -->
std::vector&lt; <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html">PointOfView</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="class_opencv_sf_m_1_1_camera.html#a51667a509ef8baa90262e5552017b131">pointsOfView_</a></td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">vector of the differents positions of the camera. <br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="afe272cb7738811e04232a2a03c9c0224"></a><!-- doxytag: member="OpencvSfM::Camera::PointOfView" ref="afe272cb7738811e04232a2a03c9c0224" args="" -->
class&#160;</td><td class="memItemRight" valign="bottom"><b>PointOfView</b></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>This class represent the physical device which take the pictures. It is not related to a 3D position which is the role of the <a class="el" href="class_opencv_sf_m_1_1_point_of_view.html" title="This class represent the 3D position of the device which take the pictures. The role of the class is ...">PointOfView</a> class. The role of the class is to store only device related informations like intra parameters, radial and tangential distotion. This abstract class is not related to a type of camera ( fish eyes... ) </p>
<p>This class can be used to store device related informations like intra parameters, radial and tangential distortion. If we use the so-called pinhole camera model, a scene view is formed by projecting 3D points into the image plane using a perspective transformation. Usual notation says that a point [ u,v ] from an image is related to the point [ X,Y,Z ] using the following notation : </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ s \begin{bmatrix} u \\ v \\ 1 \end{bmatrix} = \begin{bmatrix}f_x &amp; 0 &amp; c_x \\ 0 &amp; f_y &amp; c_y \\ 0 &amp; 0 &amp; 1 \end{bmatrix} \begin{bmatrix} r_{11} &amp; r_{12} &amp; r_{13} &amp; t_1 \\ r_{21} &amp; r_{22} &amp; r_{23} &amp; t_2 \\ r_{31} &amp; r_{32} &amp; r_{33} &amp; t_3 \end{bmatrix} \begin{bmatrix} X \\ Y \\ Z \\ 1 \end{bmatrix} \]" src="form_0.png"/>
</p>
<p>This leads to the following relation between local coordinates and global ones: </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \begin{array}{l} \vspace{10pt} \begin{bmatrix} x \\ y \\ z \end{bmatrix} = R \begin{bmatrix} X \\ Y \\ Z \end{bmatrix} + t \\ x' = x/z \\ y' = y/z \vspace{10pt} \end{array} \]" src="form_1.png"/>
</p>
<p>Additionnal radial and tangeancial distortion are modelized like this: </p>
<p class="formulaDsp">
<img class="formulaDsp" alt="\[ \begin{array}{l} \vspace{10pt} x'' = x' \dfrac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + 2 p_1 x' y' + p_2( r^2 + 2 x'^2 ) \\ \vspace{10pt} y'' = y' \dfrac{1 + k_1 r^2 + k_2 r^4 + k_3 r^6}{1 + k_4 r^2 + k_5 r^4 + k_6 r^6} + p_1 ( r^2 + 2 y'^2 ) + 2 p_2 x' y' \\ \text{where} \quad r^2 = x'^2 + y'^2 \\ u = f_x*x'' + c_x \\ v = f_y*y'' + c_y \end{array} \]" src="form_10.png"/>
</p>
<p> radial_dist_ can be used to store <img class="formulaInl" alt="$k_1$" src="form_3.png"/> to <img class="formulaInl" alt="$k_6$" src="form_4.png"/> tangential_dist_ can be used to store <img class="formulaInl" alt="$p_1$" src="form_5.png"/> and <img class="formulaInl" alt="$p_2$" src="form_6.png"/></p>
<p>So this class is devoted to the conversion between 2D points from pixel image coordinates and 2D points in normalized image coordinates, or ray projection using intra parameters. </p>

<p>Definition at line <a class="el" href="_camera_8h_source.html#l00048">48</a> of file <a class="el" href="_camera_8h_source.html">Camera.h</a>.</p>
</div><hr/><h2>Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="a32c35ae2129f2d8cab11cdca507d27ce"></a><!-- doxytag: member="OpencvSfM::Camera::Camera" ref="a32c35ae2129f2d8cab11cdca507d27ce" args="()" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">OpencvSfM::Camera::Camera </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td><code> [protected]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>As this class is virtual, we can't create a new empty camera... </p>

<p>Definition at line <a class="el" href="_camera_8cpp_source.html#l00010">10</a> of file <a class="el" href="_camera_8cpp_source.html">Camera.cpp</a>.</p>

</div>
</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aa1b338f09e0139185d71bf82e1807cb7"></a><!-- doxytag: member="OpencvSfM::Camera::convertFromImageTo3Dray" ref="aa1b338f09e0139185d71bf82e1807cb7" args="(std::vector&lt; cv::Vec3d &gt; points)=0" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">virtual std::vector&lt;cv::Vec4d&gt; OpencvSfM::Camera::convertFromImageTo3Dray </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec3d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td><code> [pure virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can transform points from image to 3D rays ( homogeneous coordinates ) </p>

<p>Implemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ad78028097b1c964cba435fd6a5728e8b">OpencvSfM::CameraPinholeDistor</a>, and <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0eb602c19f646a074e95e81cdc5f02bb">OpencvSfM::CameraPinhole</a>.</p>

</div>
</div>
<a class="anchor" id="a8cc79b0518b797715f7a3e7df92aa4bf"></a><!-- doxytag: member="OpencvSfM::Camera::getFocal" ref="a8cc79b0518b797715f7a3e7df92aa4bf" args="() const =0" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">virtual double OpencvSfM::Camera::getFocal </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [pure virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method is useful to get the focal from Intrinsic matrix: </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>focal lenght </dd></dl>

<p>Implemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a281b877e525be46fa33cffceed33267b">OpencvSfM::CameraPinhole</a>.</p>

</div>
</div>
<a class="anchor" id="acdd426e220facad4396da7f09494b406"></a><!-- doxytag: member="OpencvSfM::Camera::getIntraMatrix" ref="acdd426e220facad4396da7f09494b406" args="() const " -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">virtual cv::Mat OpencvSfM::Camera::getIntraMatrix </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const<code> [inline, virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method return the intra parameters of the camera </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>Matrix K of intra parameters </dd></dl>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a46eae27e8e2d4f25f1c64fa4d2d9b1eb">OpencvSfM::CameraPinhole</a>.</p>

<p>Definition at line <a class="el" href="_camera_8h_source.html#l00084">84</a> of file <a class="el" href="_camera_8h_source.html">Camera.h</a>.</p>

</div>
</div>
<a class="anchor" id="a5eb19d3cf32190594b62d04d665812e5"></a><!-- doxytag: member="OpencvSfM::Camera::normImageToPixelCoordinates" ref="a5eb19d3cf32190594b62d04d665812e5" args="(std::vector&lt; cv::Vec2d &gt; points) const =0" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">virtual std::vector&lt;cv::Vec2d&gt; OpencvSfM::Camera::normImageToPixelCoordinates </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec2d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [pure virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 2D points from normalized image coordinates to 2D points in pixel image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>2D points in normalized image homogeneous coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in pixel image coordinates. </dd></dl>

<p>Implemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#ab2ef67d6d89fc008c5716c7f7a25d012">OpencvSfM::CameraPinholeDistor</a>, and <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a96954b793843fd8cf9a568b2c21f3a87">OpencvSfM::CameraPinhole</a>.</p>

</div>
</div>
<a class="anchor" id="a14bc13f78187173edfbe69f8aad7ccd1"></a><!-- doxytag: member="OpencvSfM::Camera::pixelToNormImageCoordinates" ref="a14bc13f78187173edfbe69f8aad7ccd1" args="(std::vector&lt; cv::Vec2d &gt; points) const =0" -->
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">virtual std::vector&lt;cv::Vec2d&gt; OpencvSfM::Camera::pixelToNormImageCoordinates </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; cv::Vec2d &gt;&#160;</td>
          <td class="paramname"><em>points</em></td><td>)</td>
          <td> const<code> [pure virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>This method can convert 2D points from pixel image coordinates to 2D points in normalized image coordinates </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">points</td><td>2D points in pixel image homogeneous coordinates. </td></tr>
  </table>
  </dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>2D points in normalized image homogeneous coordinates. </dd></dl>

<p>Implemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a4599ad282967c60bc4e3046067202b56">OpencvSfM::CameraPinholeDistor</a>, and <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a7b87b0fe8e9fe28a02642c3ef0159f69">OpencvSfM::CameraPinhole</a>.</p>

</div>
</div>
<a class="anchor" id="aa8cf6c4e78c51a9e045913534bbd5a4e"></a><!-- doxytag: member="OpencvSfM::Camera::read" ref="aa8cf6c4e78c51a9e045913534bbd5a4e" args="(const cv::FileNode &amp;node)" -->
<div class="memitem">
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      <table class="memname">
        <tr>
          <td class="memname">cv::Ptr&lt; <a class="el" href="class_opencv_sf_m_1_1_camera.html">Camera</a> &gt; OpencvSfM::Camera::read </td>
          <td>(</td>
          <td class="paramtype">const cv::FileNode &amp;&#160;</td>
          <td class="paramname"><em>node</em></td><td>)</td>
          <td><code> [static]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Create a new camera from a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">node</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Reimplemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a799aa0db013e8d1e8516157a4905c36b">OpencvSfM::CameraPinhole</a>, and <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a449b7e76f4e82b50b38f01457fdfa77b">OpencvSfM::CameraPinholeDistor</a>.</p>

<p>Definition at line <a class="el" href="_camera_8cpp_source.html#l00019">19</a> of file <a class="el" href="_camera_8cpp_source.html">Camera.cpp</a>.</p>

</div>
</div>
<a class="anchor" id="ade222f777665c63ebcf911b357667612"></a><!-- doxytag: member="OpencvSfM::Camera::write" ref="ade222f777665c63ebcf911b357667612" args="(cv::FileStorage &amp;fs) const =0" -->
<div class="memitem">
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          <td class="memname">virtual void OpencvSfM::Camera::write </td>
          <td>(</td>
          <td class="paramtype">cv::FileStorage &amp;&#160;</td>
          <td class="paramname"><em>fs</em></td><td>)</td>
          <td> const<code> [pure virtual]</code></td>
        </tr>
      </table>
</div>
<div class="memdoc">
<p>Save the camera intra parameters into a YAML file. </p>
<dl><dt><b>Parameters:</b></dt><dd>
  <table class="params">
    <tr><td class="paramname">fs</td><td>Previously opened YAML file node </td></tr>
  </table>
  </dd>
</dl>

<p>Implemented in <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole.html#a0442e53ee1ef49653873a863e61ba8e2">OpencvSfM::CameraPinhole</a>, and <a class="el" href="class_opencv_sf_m_1_1_camera_pinhole_distor.html#a7a481f4ed67f33cc50369729fdf87f84">OpencvSfM::CameraPinholeDistor</a>.</p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_camera_8h_source.html">Camera.h</a></li>
<li>D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/<a class="el" href="_camera_8cpp_source.html">Camera.cpp</a></li>
</ul>
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